/* Copyright (c) 2015 Nordic Semiconductor. All Rights Reserved. * * The information contained herein is property of Nordic Semiconductor ASA. * Terms and conditions of usage are described in detail in NORDIC * SEMICONDUCTOR STANDARD SOFTWARE LICENSE AGREEMENT. * * Licensees are granted free, non-transferable use of the information. NO * WARRANTY of ANY KIND is provided. This heading must NOT be removed from * the file. * */ #include <string.h> #include "nrf_drv_pwm.h" #include "nrf_drv_common.h" #include "nrf_gpio.h" #include "app_util_platform.h" #if (PWM_COUNT == 0) #error "No PWM instances enabled in the driver configuration file." #endif // Control block - driver instance local data. typedef struct { nrf_drv_pwm_handler_t handler; nrf_drv_state_t volatile state; } pwm_control_block_t; static pwm_control_block_t m_cb[PWM_COUNT]; static nrf_drv_pwm_config_t const m_default_config[PWM_COUNT] = { #if PWM0_ENABLED NRF_DRV_PWM_DEFAULT_CONFIG(0), #endif #if PWM1_ENABLED NRF_DRV_PWM_DEFAULT_CONFIG(1), #endif #if PWM2_ENABLED NRF_DRV_PWM_DEFAULT_CONFIG(2), #endif }; static void configure_pins(nrf_drv_pwm_t const * const p_instance, nrf_drv_pwm_config_t const * p_config) { uint32_t out_pins[NRF_PWM_CHANNEL_COUNT]; uint8_t i; for (i = 0; i < NRF_PWM_CHANNEL_COUNT; ++i) { uint8_t output_pin = p_config->output_pins[i]; if (output_pin != NRF_DRV_PWM_PIN_NOT_USED) { bool inverted = output_pin & NRF_DRV_PWM_PIN_INVERTED; out_pins[i] = output_pin & ~NRF_DRV_PWM_PIN_INVERTED; if (inverted) { nrf_gpio_pin_set(out_pins[i]); } else { nrf_gpio_pin_clear(out_pins[i]); } nrf_gpio_cfg_output(out_pins[i]); } else { out_pins[i] = NRF_PWM_PIN_NOT_CONNECTED; } } nrf_pwm_pins_set(p_instance->p_registers, out_pins); } ret_code_t nrf_drv_pwm_init(nrf_drv_pwm_t const * const p_instance, nrf_drv_pwm_config_t const * p_config, nrf_drv_pwm_handler_t handler) { pwm_control_block_t * p_cb = &m_cb[p_instance->drv_inst_idx]; if (p_cb->state != NRF_DRV_STATE_UNINITIALIZED) { return NRF_ERROR_INVALID_STATE; } if (p_config == NULL) { p_config = &m_default_config[p_instance->drv_inst_idx]; } p_cb->handler = handler; configure_pins(p_instance, p_config); nrf_pwm_enable(p_instance->p_registers); nrf_pwm_configure(p_instance->p_registers, p_config->base_clock, p_config->count_mode, p_config->top_value); nrf_pwm_decoder_set(p_instance->p_registers, p_config->load_mode, p_config->step_mode); nrf_pwm_shorts_set(p_instance->p_registers, 0); nrf_pwm_int_set(p_instance->p_registers, 0); nrf_pwm_event_clear(p_instance->p_registers, NRF_PWM_EVENT_LOOPSDONE); nrf_pwm_event_clear(p_instance->p_registers, NRF_PWM_EVENT_SEQEND0); nrf_pwm_event_clear(p_instance->p_registers, NRF_PWM_EVENT_SEQEND1); nrf_pwm_event_clear(p_instance->p_registers, NRF_PWM_EVENT_STOPPED); if (p_cb->handler) { nrf_drv_common_irq_enable(nrf_drv_get_IRQn(p_instance->p_registers), p_config->irq_priority); } p_cb->state = NRF_DRV_STATE_INITIALIZED; return NRF_SUCCESS; } void nrf_drv_pwm_uninit(nrf_drv_pwm_t const * const p_instance) { pwm_control_block_t * p_cb = &m_cb[p_instance->drv_inst_idx]; ASSERT(p_cb->state != NRF_DRV_STATE_UNINITIALIZED); nrf_drv_common_irq_disable(nrf_drv_get_IRQn(p_instance->p_registers)); nrf_pwm_disable(p_instance->p_registers); p_cb->state = NRF_DRV_STATE_UNINITIALIZED; } static void start_playback(nrf_drv_pwm_t const * const p_instance, pwm_control_block_t * p_cb, uint8_t flags, nrf_pwm_task_t starting_task) { p_cb->state = NRF_DRV_STATE_POWERED_ON; if (p_cb->handler) { // The notification about finished playback is by default enabled, but // this can be suppressed. The notification that the peripheral has been // stopped is always enable. uint32_t int_mask = NRF_PWM_INT_LOOPSDONE_MASK | NRF_PWM_INT_STOPPED_MASK; if (flags & NRF_DRV_PWM_FLAG_SIGNAL_END_SEQ0) { int_mask |= NRF_PWM_INT_SEQEND0_MASK; } if (flags & NRF_DRV_PWM_FLAG_SIGNAL_END_SEQ1) { int_mask |= NRF_PWM_INT_SEQEND1_MASK; } if (flags & NRF_DRV_PWM_FLAG_NO_EVT_FINISHED) { int_mask &= ~NRF_PWM_INT_LOOPSDONE_MASK; } nrf_pwm_int_set(p_instance->p_registers, int_mask); } nrf_pwm_event_clear(p_instance->p_registers, NRF_PWM_EVENT_STOPPED); nrf_pwm_task_trigger(p_instance->p_registers, starting_task); } void nrf_drv_pwm_simple_playback(nrf_drv_pwm_t const * const p_instance, nrf_pwm_sequence_t const * p_sequence, uint16_t playback_count, uint32_t flags) { pwm_control_block_t * p_cb = &m_cb[p_instance->drv_inst_idx]; ASSERT(p_cb->state != NRF_DRV_STATE_UNINITIALIZED); ASSERT(playback_count > 0); ASSERT(nrf_drv_is_in_RAM(p_sequence->values.p_raw)); // To take advantage of the looping mechanism, we need to use both sequences // (single sequence can be played back only once). nrf_pwm_sequence_set(p_instance->p_registers, 0, p_sequence); nrf_pwm_sequence_set(p_instance->p_registers, 1, p_sequence); bool odd = (playback_count & 1); nrf_pwm_loop_set(p_instance->p_registers, playback_count/2 + (odd ? 1 : 0)); uint32_t shorts_mask; if (flags & NRF_DRV_PWM_FLAG_STOP) { shorts_mask = NRF_PWM_SHORT_LOOPSDONE_STOP_MASK; } else if (flags & NRF_DRV_PWM_FLAG_LOOP) { shorts_mask = odd ? NRF_PWM_SHORT_LOOPSDONE_SEQSTART1_MASK : NRF_PWM_SHORT_LOOPSDONE_SEQSTART0_MASK; } else { shorts_mask = 0; } nrf_pwm_shorts_set(p_instance->p_registers, shorts_mask); start_playback(p_instance, p_cb, flags, odd ? NRF_PWM_TASK_SEQSTART1 : NRF_PWM_TASK_SEQSTART0); } void nrf_drv_pwm_complex_playback(nrf_drv_pwm_t const * const p_instance, nrf_pwm_sequence_t const * p_sequence_0, nrf_pwm_sequence_t const * p_sequence_1, uint16_t playback_count, uint32_t flags) { pwm_control_block_t * p_cb = &m_cb[p_instance->drv_inst_idx]; ASSERT(p_cb->state != NRF_DRV_STATE_UNINITIALIZED); ASSERT(playback_count > 0); ASSERT(nrf_drv_is_in_RAM(p_sequence_0->values.p_raw)); ASSERT(nrf_drv_is_in_RAM(p_sequence_1->values.p_raw)); nrf_pwm_sequence_set(p_instance->p_registers, 0, p_sequence_0); nrf_pwm_sequence_set(p_instance->p_registers, 1, p_sequence_1); nrf_pwm_loop_set(p_instance->p_registers, playback_count); uint32_t shorts_mask; if (flags & NRF_DRV_PWM_FLAG_STOP) { shorts_mask = NRF_PWM_SHORT_LOOPSDONE_STOP_MASK; } else if (flags & NRF_DRV_PWM_FLAG_LOOP) { shorts_mask = NRF_PWM_SHORT_LOOPSDONE_SEQSTART0_MASK; } else { shorts_mask = 0; } nrf_pwm_shorts_set(p_instance->p_registers, shorts_mask); start_playback(p_instance, p_cb, flags, NRF_PWM_TASK_SEQSTART0); } bool nrf_drv_pwm_stop(nrf_drv_pwm_t const * const p_instance, bool wait_until_stopped) { ASSERT(m_cb[p_instance->drv_inst_idx].state != NRF_DRV_STATE_UNINITIALIZED); if (nrf_drv_pwm_is_stopped(p_instance)) { return true; } nrf_pwm_task_trigger(p_instance->p_registers, NRF_PWM_TASK_STOP); do { if (nrf_drv_pwm_is_stopped(p_instance)) { return true; } } while (wait_until_stopped); return false; } bool nrf_drv_pwm_is_stopped(nrf_drv_pwm_t const * const p_instance) { pwm_control_block_t * p_cb = &m_cb[p_instance->drv_inst_idx]; ASSERT(p_cb->state != NRF_DRV_STATE_UNINITIALIZED); // If the event handler is used (interrupts are enabled), the state will // be changed in interrupt handler when the STOPPED event occurs. if (p_cb->state != NRF_DRV_STATE_POWERED_ON) { return true; } // If interrupts are disabled, we must check the STOPPED event here. if (nrf_pwm_event_check(p_instance->p_registers, NRF_PWM_EVENT_STOPPED)) { p_cb->state = NRF_DRV_STATE_INITIALIZED; return true; } return false; } static void irq_handler(NRF_PWM_Type * p_pwm, pwm_control_block_t * p_cb) { ASSERT(p_cb->handler); // The SEQEND0 and SEQEND1 events are only handled when the user asked for // it (by setting proper flags when starting the playback). if (nrf_pwm_int_enable_check(p_pwm, NRF_PWM_INT_SEQEND0_MASK) && nrf_pwm_event_check(p_pwm, NRF_PWM_EVENT_SEQEND0)) { nrf_pwm_event_clear(p_pwm, NRF_PWM_EVENT_SEQEND0); p_cb->handler(NRF_DRV_PWM_EVT_END_SEQ0); } if (nrf_pwm_int_enable_check(p_pwm, NRF_PWM_INT_SEQEND1_MASK) && nrf_pwm_event_check(p_pwm, NRF_PWM_EVENT_SEQEND1)) { nrf_pwm_event_clear(p_pwm, NRF_PWM_EVENT_SEQEND1); p_cb->handler(NRF_DRV_PWM_EVT_END_SEQ1); } // The LOOPSDONE event is handled by default, but this can be disabled. if (nrf_pwm_int_enable_check(p_pwm, NRF_PWM_INT_LOOPSDONE_MASK) && nrf_pwm_event_check(p_pwm, NRF_PWM_EVENT_LOOPSDONE)) { nrf_pwm_event_clear(p_pwm, NRF_PWM_EVENT_LOOPSDONE); p_cb->handler(NRF_DRV_PWM_EVT_FINISHED); } if (nrf_pwm_event_check(p_pwm, NRF_PWM_EVENT_STOPPED)) { nrf_pwm_event_clear(p_pwm, NRF_PWM_EVENT_STOPPED); p_cb->state = NRF_DRV_STATE_INITIALIZED; p_cb->handler(NRF_DRV_PWM_EVT_STOPPED); } } #if PWM0_ENABLED void PWM0_IRQHandler(void) { irq_handler(NRF_PWM0, &m_cb[PWM0_INSTANCE_INDEX]); } #endif #if PWM1_ENABLED void PWM1_IRQHandler(void) { irq_handler(NRF_PWM1, &m_cb[PWM1_INSTANCE_INDEX]); } #endif #if PWM2_ENABLED void PWM2_IRQHandler(void) { irq_handler(NRF_PWM2, &m_cb[PWM2_INSTANCE_INDEX]); } #endif